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Добавление сферической интерполяции, переход от применения acos к применению atan2, исправление ошибок

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This commit is contained in:
Andrey Pokidov 2025-03-17 09:56:56 +07:00
parent f06b35ae34
commit 9d7011e81e
17 changed files with 558 additions and 134 deletions
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12
basic-geometry/quaternion.h
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@ -473,9 +473,9 @@ inline void bgc_quaternion_divide_fp64(const BgcQuaternionFP64* dividend, const
bgc_quaternion_multiply_fp64(dividend, 1.0 / divisor, quotient);
}
// =================== Linear =================== //
// ============ Linear Interpolation ============ //
inline void bgc_quaternion_get_linear_interpolation_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2, const float phase, BgcQuaternionFP32* interpolation)
inline void bgc_quaternion_interpolate_linearly_fp32(const BgcQuaternionFP32* quaternion1, const BgcQuaternionFP32* quaternion2, const float phase, BgcQuaternionFP32* interpolation)
{
const float counterphase = 1.0f - phase;
@ -485,7 +485,7 @@ inline void bgc_quaternion_get_linear_interpolation_fp32(const BgcQuaternionFP32
interpolation->x3 = quaternion1->x3 * counterphase + quaternion2->x3 * phase;
}
inline void bgc_quaternion_get_linear_interpolation_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2, const double phase, BgcQuaternionFP64* interpolation)
inline void bgc_quaternion_interpolate_linearly_fp64(const BgcQuaternionFP64* quaternion1, const BgcQuaternionFP64* quaternion2, const double phase, BgcQuaternionFP64* interpolation)
{
const double counterphase = 1.0 - phase;
@ -495,6 +495,12 @@ inline void bgc_quaternion_get_linear_interpolation_fp64(const BgcQuaternionFP64
interpolation->x3 = quaternion1->x3 * counterphase + quaternion2->x3 * phase;
}
// =============== Get Exponation =============== //
int bgc_quaternion_get_exponation_fp32(const BgcQuaternionFP32* base, const float exponent, BgcQuaternionFP32* power);
int bgc_quaternion_get_exponation_fp64(const BgcQuaternionFP64* base, const double exponent, BgcQuaternionFP64* power);
// ============ Get Rotation Matrix ============= //
inline int bgc_quaternion_get_rotation_matrix_fp32(const BgcQuaternionFP32* quaternion, BgcMatrix3x3FP32* rotation)